Matching, linear systems, and the ball and beam (Q1858355)

This paper contains the matching conditions and a recent approach for the control of underactuated systems in order to find all the control laws that fit conditions with specific structures for closed-loop systems. The authors describe the implementation of the \(\lambda\)-method of Auckly on ball and beam systems, and then they prove a theorem showing that the family of matching control laws of any linear time invariant system contains all the linear state feedback control laws. As well, they present the general solution of the matching equations for the ball and beam systems that contain several free functional parameters that may be used as tuning parameters. A ball and beam system experimental test that confirms the authors' predicted stabilization is presented.